CN117853606A

CN117853606A - Intersection road connection method, device and equipment

Info

Publication number: CN117853606A
Application number: CN202410027949.4A
Authority: CN
Inventors: 王红; 王慧婧; 黄婧瑶
Original assignee: Hangzhou Langge Technology Co ltd; Zhejiang Geely Holding Group Co Ltd
Current assignee: Hangzhou Langge Technology Co ltd; Zhejiang Geely Holding Group Co Ltd
Priority date: 2024-01-08
Filing date: 2024-01-08
Publication date: 2024-04-09

Abstract

The application provides a method, a device and equipment for connecting an intersection road. Each intersection is provided with a plurality of first vector curves; comprising the following steps: aiming at each intersection, determining a first strategy corresponding to the intersection type from a preset strategy library according to the intersection type of the intersection; generating an initial second vector curve corresponding to each first vector curve of the intersection according to a first strategy; for each first vector curve of the intersection, if the initial second vector curve corresponding to the first vector curve is determined not to exceed the intersection range of the intersection, determining the initial second vector curve as the second vector curve of the first vector curve; if the initial second vector curve corresponding to the first vector curve is determined to be beyond the intersection range of the intersection, determining a second strategy corresponding to the intersection type from a preset strategy library; and generating a second vector curve corresponding to the first vector curve according to a second strategy. The method and the device can improve the connection efficiency of the crossing road.

Description

Intersection road connection method, device and equipment

Technical Field

The application relates to the field of high-precision maps, in particular to a method, a device and equipment for connecting an intersection road.

Background

With the development of technology, high-precision maps are widely used. The accuracy of the road-junction road in the high-precision map has important significance for driving safety and path planning.

The road at the intersection is generally formed by combining a plurality of roads into one road or splitting one road into a plurality of roads, but the road at the intersection is discontinuous when being connected with other roads due to different number of lanes or inconsistent road width caused by different road grades, namely, a folding point exists. In the prior art, the connection of the intersection road and other roads is mostly carried out in a manual marking mode, but the efficiency of the mode is lower. Therefore, a connection method of the intersection road is needed.

Disclosure of Invention

The application provides a method, a device and equipment for connecting an intersection road, which are used for reducing cost and improving connection efficiency of the intersection road.

In a first aspect, the present application provides a method for connecting roads at intersections, where a target geographic area includes a plurality of intersections, each intersection having an intersection type, each intersection having a plurality of first vector curves, where the first vector curves are used to indicate lanes at the intersection, and the first vector curves have a topological relationship; comprising the following steps:

For each intersection, determining a first strategy corresponding to the intersection type from a preset strategy library according to the intersection type of the intersection; the preset strategy library comprises a first strategy and a second strategy corresponding to various intersection types; the first strategy and the second strategy are used for indicating different generation modes of the road curve of the intersection;

generating an initial second vector curve corresponding to each first vector curve of the intersection according to the first strategy; the initial second vector curve is used for preliminarily connecting a road curve indicated by the topological relation of the first vector curve;

for each first vector curve of the intersection, if the initial second vector curve corresponding to the first vector curve is determined not to exceed the intersection range of the intersection, determining the initial second vector curve as the second vector curve of the first vector curve; if the initial second vector curve corresponding to the first vector curve is determined to be beyond the intersection range of the intersection, determining a second strategy corresponding to the intersection type from a preset strategy library; generating a second vector curve corresponding to the first vector curve according to the second strategy; the second vector curve is used for finally connecting the road curve indicated by the topological relation of the first vector curve.

Optionally, the type of the intersection is a first type, and the first type represents the intersection as an entrance; for each first vector curve of the intersection, generating an initial second vector curve corresponding to the first vector curve according to the first strategy, wherein the initial second vector curve comprises:

for each first vector curve of the intersection, determining a first control point and a plurality of second control points of the first vector curve according to a converging road curve and a diverging road curve indicated by the topological relation of the first vector curve; the first control point is a starting point and a stopping point of a converging road curve of the first vector curve, and the second control point is a starting point and a stopping point of each diverging road curve of the first vector curve;

and generating an initial second vector curve corresponding to the first vector curve according to the first control point and the second control point.

Optionally, according to the second policy, generating a second vector curve corresponding to the first vector curve includes:

determining the distance between the starting point and the stopping point of the first vector curve and each second control point according to the starting point and the stopping point of the first vector curve;

for each second control point, translating the first vector curve according to the distance between the starting point and the second control point of the first vector curve, so that the starting point and the second control point of the first vector curve coincide, and obtaining an intermediate second vector curve corresponding to the second control point;

Dividing the first vector curve into a preset number of equal division points according to an intermediate second vector curve corresponding to each second control point, and determining projection points of each equal division point to the intermediate second vector curve;

and generating a second vector curve corresponding to the first vector curve according to each projection point, the second control point and the first control point which do not exceed the range of the intersection on the middle second vector curve aiming at the middle second vector curve corresponding to each second control point.

Optionally, the type of the intersection is a second type, and the second type represents the intersection; for each first vector curve of the intersection, generating an initial second vector curve corresponding to the first vector curve according to the first strategy, wherein the initial second vector curve comprises:

for each first vector curve of the intersection, determining a third control point and a fourth control point of the first vector curve according to a preceding road curve and a subsequent road curve indicated by the topological relation of the first vector curve; the third control point is the ending point of the curve of the follow-up road, and the fourth control point is the starting point of the follow-up road;

Determining, for each first vector curve of the intersection, a function indicated by the first vector curve; the function indicated by the first vector curve is used for representing the line type of the first vector curve;

for each first vector curve of the intersection, determining a first sub-strategy corresponding to the function indicated by the first vector curve in the first strategy according to the function indicated by the first vector curve; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point; the first strategy comprises a plurality of first sub-strategies corresponding to functions indicated by the first vector curves.

Optionally, the function indicated by the first vector curve is straight; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

and generating an initial second vector curve corresponding to the first vector curve according to the third control point and the fourth control point.

Optionally, the function indicated by the first vector curve is left turn or right turn; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

Determining a first control line of the first vector curve according to a preceding road curve indicated by the topological relation of the first vector curve; determining a second control line of the first vector curve according to a subsequent road curve indicated by the topological relation of the first vector curve; the first control line is used for indicating a straight line which starts from the ending point of the previous road curve and is closest to the first vector curve, and the second control line is used for indicating a straight line which starts from the starting point of the subsequent road curve and is closest to the first vector curve;

and generating an initial second vector curve corresponding to the first vector curve according to the first intersection point of the first control line and the second control line, the third control point and the fourth control point.

Optionally, the function indicated by the first vector curve is turning around; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

determining a first control line of the first vector curve according to a preceding road curve indicated by the topological relation of the first vector curve; determining a second control line of the first vector curve according to a subsequent road curve indicated by the topological relation of the first vector curve; the first control line is used for indicating a straight line which starts from the starting point of the previous road curve and is closest to the first vector curve, and the second control line is used for indicating a straight line which starts from the starting point of the subsequent road curve and is closest to the first vector curve;

Determining a third control line of the first vector curve according to the first control line and the second control line; the third control line intersects the first control line and the second control line, respectively, and such that the first vector curves are all on the same side of the third control line;

determining a second intersection of the first control line and the third control line, and a third intersection of the second control line and the third control line; determining the midpoint of a third control line between the second intersection point and the third intersection point according to the second intersection point and the third intersection point;

and generating an initial second vector curve corresponding to the first vector curve according to the second intersection point, the third intersection point, the midpoint, the third control point and the fourth control point.

Optionally, the function indicated by the first vector curve is a rotary island; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

determining whether the number of lanes represented by the preceding road curve is equal to the number of lanes represented by the following road curve or not according to the preceding road curve and the following road curve indicated by the topological relation of the first vector curve;

If the number of lanes represented by the preceding road curve is not equal to the number of lanes represented by the following road curve, generating an initial second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and all points within a preset length range of the first vector curve.

determining a second sub-strategy corresponding to the function indicated by the first vector curve in the second strategy according to the function indicated by the first vector curve; generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point; the second strategy comprises a plurality of second sub-strategies corresponding to the functions indicated by the first vector curves.

Optionally, the function indicated by the first vector curve is straight; generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point, including:

and generating a second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and other points except for the start point and the stop point on the first vector curve.

Optionally, the function indicated by the first vector curve is left turn or right turn; generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point, including:

and generating a second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and all points within a preset length range of the first vector curve.

Optionally, the method further comprises:

determining whether all points on the initial second vector curve are located in the intersection range of the intersection; if yes, determining that the initial second vector curve does not exceed the intersection range of the intersection; if not, determining that the initial second vector curve exceeds the intersection range of the intersection.

In a second aspect, the present application provides a connection device for a road at an intersection, where a target geographic area includes a plurality of intersections, each intersection having an intersection type, each intersection having a plurality of first vector curves, where the first vector curves are used to indicate lanes at the intersection, and the first vector curves have a topological relationship; comprising the following steps:

the first determining unit is used for determining a first strategy corresponding to the intersection type from a preset strategy library according to the intersection type of each intersection; the preset strategy library comprises a first strategy and a second strategy corresponding to various intersection types; the first strategy and the second strategy are used for indicating different generation modes of the road curve of the intersection;

The generating unit is used for generating an initial second vector curve corresponding to each first vector curve of the intersection according to the first strategy; the initial second vector curve is used for preliminarily connecting a road curve indicated by the topological relation of the first vector curve;

the second determining unit is used for determining that the initial second vector curve corresponding to each first vector curve of the intersection is the second vector curve of the first vector curve if the initial second vector curve does not exceed the intersection range of the intersection; if the initial second vector curve corresponding to the first vector curve is determined to be beyond the intersection range of the intersection, determining a second strategy corresponding to the intersection type from a preset strategy library; generating a second vector curve corresponding to the first vector curve according to the second strategy; the second vector curve is used for finally connecting the road curve indicated by the topological relation of the first vector curve.

In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

The memory stores computer-executable instructions;

the processor executes computer-executable instructions stored in the memory to implement the method of connecting an intersection road as described in any one of the first aspects.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the intersection road connection method according to any one of the first aspects when executed by a processor.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method for connecting an intersection road according to any one of the first aspects.

In a sixth aspect, the present application provides a chip on which a computer program is stored, which when executed by the chip, implements the method for connecting an intersection road according to any one of the first aspects.

The method, the device and the equipment for connecting the road at the intersection are characterized in that a strategy library comprising a plurality of first strategies and second strategies is preset, the first strategies corresponding to the types of the intersections are selected from the strategy library according to different types of the intersections, an initial second vector curve of a first vector curve of the intersection is generated according to the first strategies corresponding to the types of the intersections, whether the initial second vector curve exceeds the range of the intersection is determined, the initial second vector curve is used as the second vector curve of the first vector curve when the initial second vector curve does not exceed the range of the intersection is determined, the second strategies corresponding to the types of the intersections are selected from the strategy library when the initial second vector curve exceeds the range of the intersection is determined, and the second vector curve of the first vector curve is generated according to the second strategies so as to connect the road curve indicated by the topological relation of the first vector curve by using the second vector curve of the first vector curve. According to the method, a continuous road curve can be obtained without manual processing, the processing efficiency is improved, the continuous curve can be realized by utilizing the first strategy when the continuous curve can be realized by utilizing the simpler first strategy, and the processing can be further improved by utilizing the more complex second strategy when the first strategy can not be realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic diagram of an intersection road provided in the present application;

FIG. 2 is a schematic illustration of an intersection road provided herein;

fig. 3 is a flow chart of a method for connecting an intersection road provided by the present application;

FIG. 4 is a schematic illustration of an intersection road provided herein;

fig. 5 is a flow chart of a method for connecting an intersection road provided by the present application;

fig. 6 is a flow chart of a method for connecting an intersection road provided by the present application;

fig. 7 is a flow chart of a method for connecting an intersection road provided by the present application;

FIG. 8 is a schematic illustration of an intersection road provided herein;

fig. 9 is a flow chart of a method for connecting an intersection road provided by the present application;

FIG. 10 is a schematic illustration of an intersection road provided herein;

FIG. 11 is a schematic illustration of an intersection road provided herein;

fig. 12 is a flow chart of a method for connecting an intersection road provided by the present application;

FIG. 13 is a schematic illustration of an intersection road provided herein;

Fig. 14 is a flow chart of a method for connecting an intersection road provided in the present application;

FIG. 15 is a schematic view of an intersection road provided herein;

fig. 16 is a schematic structural view of a junction device for an intersection provided in the present application;

fig. 17 is a schematic structural diagram of a junction device for an intersection road provided in the present application;

fig. 18 is a schematic structural diagram of an electronic device provided in the present application.

Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

The terms referred to in this application are explained first:

bezier curve: is a parameterized curve used in computer graphics and related fields to define a smooth, continuous curve by formula based on a set of discrete control points.

The first order Bezier curve formula is shown as follows:

B ₁ (t)＝(1-t)P ₀ +tP ₁ formula (1)

Wherein t represents time, and the value range of t is [0,1 ]]；P ₀ And P ₁ Coordinates of two control points; b (B) ₁ (t) represents a first-order Bezier curve.

The second order Bezier curve formula is shown as follows:

B ₂ (t)＝(1-t) ² P ₀ +2t(1-t)P ₁ +t ² P ₂ formula (2)

Wherein t represents time, and the value range of t is [0,1 ]]；P ₀ 、P ₁ And P is the coordinates of three control points; b (B) ₂ (t) represents a second-order Bezier curve.

The N-order bezier curve formula is shown as follows:

wherein t represents time, and the value range of t is [0,1 ]]；P _i The coordinates of the ith control point, i is an integer greater than or equal to 0; b (B) _N (t) represents an N-order bezier curve, N is an integer of 1 or more, and n=i-1.

A road is an essential element of a high-precision map, and a road usually comprises a plurality of lanes, and the plurality of lanes can be combined, and a vector curve is generated by using midpoints of lane lines on two outermost sides to characterize the road. The intersection is formed by combining a plurality of roads into one road or by splitting one road into a plurality of roads. The road widths of different road grades are different, or the number of lanes of the road is different, so that the generated vector curves of different roads are discontinuous. Fig. 1 is a schematic diagram of an intersection road provided in the present application. As shown in fig. 1, the left side is a schematic representation of an actual road, and the right side is a schematic representation of a road in a high-definition map. Vector curve 1 characterizes road 1 and vector curve 2 characterizes road 2, resulting in a discontinuity between vector curve 1 and vector curve 2 due to the reduced number of lanes of road 2.

In the prior art, the 2 vector curves are generally connected in a manual processing mode, but the number of intersections is large, the manual processing efficiency is low, and the updating of a high-precision map is not facilitated.

In view of this, the present application provides a connection method for an intersection road, and a policy library is preset, where the policy library includes processing policies of different intersection types, and the processing policies include a simple policy and an optimization policy. Based on different intersection types, different processing strategies are selected to connect intersection roads, manual operation is not needed, efficiency is improved, and under the condition that the processing cannot be realized based on the simple processing strategies, an optimization strategy is selected to process, so that processing efficiency is further improved.

The execution subject of the present application may be an electronic device with processing capability, such as a server, a computer, etc., which is not limited herein.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with reference to specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a schematic diagram of an intersection road provided in the present application. The target geographic area comprises a plurality of intersections, each intersection has an intersection type, each intersection has a plurality of first vector curves, the first vector curves are used for indicating lanes of the intersection, and the first vector curves have topological relations.

The intersection type refers to the type of the intersection, and may be divided according to the functions of the intersection, for example, may include an entrance, an intersection, and the like, which are not limited herein, and may be specifically set according to actual requirements. It should be appreciated that the above intersection types are known attributes of the intersection and may be manually noted in advance, for example. The present application is not limited to the above-described generation method of the first vector curve, and specific reference may be made to the prior art.

In one example, as shown in fig. 2, the curve in the circle in fig. 2 is a first vector curve, and the circle includes 6 first vector curves, where the first vector curves may be used to indicate lanes of the intersection, such as a straight lane, a right-turn lane, and the like; and each first vector curve has a topological relation with other roads, for example, each first vector curve has its successor and successor roads. For convenience of description, the first vector curve in fig. 2 is not connected to other roads. The number of the first vector curves included in the intersection is not limited in the present application.

Fig. 3 is a flow chart of a method for connecting an intersection road provided by the present application. As shown in fig. 3, the method includes:

s101, determining a first strategy corresponding to the type of the intersection from a preset strategy library according to the type of the intersection of each intersection.

The preset policy library includes a first policy and a second policy corresponding to multiple intersection types. The first strategy and the second strategy are used for indicating different generation modes of the road curve of the intersection. For example, the second policy is an optimization policy of the first policy, that is, the generation method of the first policy is simpler than the generation method of the second policy, but the generation method of the second policy is more accurate.

In one example, a mapping relation between an intersection type and the first strategy and the second strategy is preset in a preset strategy library, and the first strategy corresponding to the intersection type is determined according to the intersection type and the mapping relation. Table 1 is an illustration of a pre-set policy library.

TABLE 1

Intersection type	First strategy	Second strategy
			Of the first type	Strategy 11	Policy 21
Of the second type	Policy 12	Policy 22

S102, generating an initial second vector curve corresponding to each first vector curve of the intersection according to a first strategy.

The initial second vector curve is used for initially connecting the road curve indicated by the topological relation of the first vector curve. An initial second vector curve corresponding to the first vector curve may be generated according to the step corresponding to the first policy.

In one example, the first strategy may be to generate an initial second vector curve corresponding to the first vector curve using a first-order, second-order, or third-order bezier curve. For example, the initial second vector curve is generated using a first-order bezier curve with the end point of the preceding road curve and the start point of the following road curve indicated by the topological relation of the first vector curve as two control points.

S103, determining whether an initial second vector curve corresponding to each first vector curve of the intersection exceeds the intersection range of the intersection or not according to each first vector curve of the intersection.

The intersection range of the intersection is exemplified as the area range of the intersection, and the intersection range of the intersection may be preset or determined based on a preset detection algorithm, which is not limited herein.

In one example, whether all points on the first vector curve are located in the intersection range of the intersection can be determined, and if all points on the first vector curve are located in the intersection range of the intersection, it is determined that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection; if the first vector curve is determined to have a point which is located outside the intersection range of the intersection, determining that an initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S104; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection, and a second strategy with better optimization is needed to be used for processing, and step S105 is executed.

S104, determining the initial second vector curve as a second vector curve of the first vector curve.

The second vector curve is used for the road curve indicated by the topological relation of the final connection first vector curve. That is, the initial second vector curve is taken as a second vector curve of the first vector curve, and the second vector curve may continuously connect road curves indicated by the topological relation of the first vector curve, for example, a preceding road curve and a following road curve indicated by the topological relation of the first vector curve.

S105, determining a second strategy corresponding to the intersection type from a preset strategy library; and generating a second vector curve corresponding to the first vector curve according to a second strategy.

In one example, a second vector curve corresponding to the first vector curve may be generated according to the steps of the second strategy. The second strategy may be to generate a second vector curve corresponding to the first vector curve using an N-th order bezier curve, where N is an integer greater than or equal to 3. The second vector curve corresponding to the first vector curve generated in the step adopts a second strategy which is more optimized and complex than the first strategy, namely, more control points are adopted to control the generation of the second vector curve, so that the generated second vector curve is more accurate, and therefore, the second strategy can ensure that the generated second vector curve does not exceed the intersection range of the intersection.

In this embodiment, a policy library including a plurality of first policies and second policies is preset, for different types of intersections, first policies corresponding to the types of intersections are selected from the policy library, an initial second vector curve of a first vector curve of the intersection is generated according to the first policies corresponding to the types of intersections, whether the initial second vector curve exceeds the intersection range of the intersection is determined, when the initial second vector curve does not exceed the intersection range of the intersection, the initial second vector curve is used as a second vector curve of the first vector curve, when the initial second vector curve exceeds the intersection range of the intersection, a second policy corresponding to the types of intersections is selected from the policy library, and a second vector curve of the first vector curve is generated according to the second policies, so that a road curve indicated by a topological relation of the first vector curve is connected by using the second vector curve of the first vector curve. According to the method, a continuous road curve can be obtained without manual processing, the processing efficiency is improved, the continuous curve can be realized by utilizing the first strategy when the continuous curve can be realized by utilizing the simpler first strategy, and the processing can be further improved by utilizing the more complex second strategy when the first strategy can not be realized.

The following describes a connection method of the intersection road provided in the present application, taking the above intersection type as the first type as an example. The first type of the characterization intersection is an entrance and exit, such as a high-speed ramp. Fig. 4 is a schematic diagram of an intersection road provided in the present application. The road curve of the entrance is discontinuous due to the change of the number of lanes at the entrance and exit, and as shown in fig. 4, the intersection of the rectangular frame is a first type, and the intersection comprises a first vector curve which is discontinuous with the split road curves 1 and 2 due to the change of the number of lanes.

Fig. 5 is a flow chart of a method for connecting an intersection road provided by the present application. As shown in fig. 5, the method includes:

s201, determining a first strategy corresponding to the intersection type from a preset strategy library according to the intersection type of each intersection.

It should be noted that, the description of this step may refer to the aforementioned step S101, and will not be repeated here.

The intersection type is a first type, so a first strategy corresponding to the first type can be adopted, and the first strategy is as follows:

s202, determining a first control point and a plurality of second control points of each first vector curve of the intersection according to the converging road curve and the diverging road curve indicated by the topological relation of the first vector curve.

The first control point is illustratively the start-stop point of the merging road curve of the first vector curve, and the second control point is the start-stop point of each diverging road curve of the first vector curve. The determination of the first control point and the second control point is related to the direction of the first vector curve, that is, the direction of the road. For example, referring to fig. 4, if the direction of the road is from the converging road curve to the diverging road curve, the first control point is the ending point (point C) of the converging road curve, and the second control point is the starting point (points a and B) of the diverging road curve. If the direction of the road is from each split road curve to the merging road curve, the first control point is the start point (point C) of the merging road curve, and the second control point is the end point (points a and B) of each split road curve.

In one example, the first control point may be determined based on the direction of the merging road curve by traversing all points on the merging road curve according to the merging road curve and the diverging road curve indicated by the first vector curve, respectively. Similarly, each second control point is obtained, and will not be described in detail herein. It should be appreciated that the number of second control points is related to the number of split road curves.

It should be understood that there is actually only one first vector curve at the intersection, and that the number of second vector curves corresponding to the first vector curve corresponds to the number of split road curves in order to make the road connection at the intersection continuous and smooth.

S203, generating an initial second vector curve corresponding to the first vector curve according to the first control point and the second control point.

Illustratively, as previously mentioned, the Bezier curve is a continuously smooth curve generated based on a plurality of control points. Thus, an initial second vector curve of the first vector curve can be generated based on the first control point and the second control point using the first order bezier curve characterized by the foregoing equation (1).

Referring to fig. 4, an initial second vector curve 2 of the first vector curve is generated based on the first control point (point C) and a second control point (point a) using the first-order bezier curve characterized by the foregoing equation (1). And generating another initial second vector curve 1 of the first vector curve by using the first-order Bezier curve represented by the formula (1) based on the first control point (C point) and another second control point (B point). The initial second vector curve of the first vector curve generated by this step is a continuous and smooth curve with the split road curve and the merging road curve.

Through the steps, the initial second vector curve corresponding to the first vector curve can be generated based on the first strategy corresponding to the first type.

S204, determining whether an initial second vector curve corresponding to each first vector curve of the intersection exceeds the intersection range of the intersection or not according to each first vector curve of the intersection.

It should be noted that, the description of this step may refer to the aforementioned step S103, which is not repeated here.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S205; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection, and a second more optimized strategy is needed to be used for processing, and step S206 is executed.

S205, determining the initial second vector curve as the second vector curve of the first vector curve.

It should be noted that, the description of this step may refer to the aforementioned step S104, which is not repeated here.

S206, determining a second strategy corresponding to the intersection type from a preset strategy library.

When the initial second vector curve corresponding to the first vector curve is determined to exceed the intersection range of the intersection, a second strategy corresponding to the first type can be adopted to generate the second vector curve, and the second strategy is as follows:

s207, determining the distance between the starting point and the stopping point of the first vector curve and each second control point according to the starting point and the stopping point of the first vector curve.

The determination of the distance is illustratively dependent on the direction of the first vector curve, for example, if the direction of the first vector curve is from a converging road curve to a diverging road curve, then the distance between the termination point of the first vector curve and the respective second control point is determined; if the direction of the first vector curve is from the split road curve to the converging road curve, determining the distance between the starting point of the first vector curve and each second control point. Referring to fig. 4, the distance between the point D and the point a and the distance between the point D and the point B are determined.

In one example, the coordinates of the start and stop points of the first vector curve may be determined according to the direction of the first vector curve, and then the distance between the start and stop points and the second control points may be calculated according to the coordinates of the start and stop points and the coordinates of the second control points.

S208, aiming at each second control point, translating the first vector curve according to the distance between the starting point of the first vector curve and the second control point, so that the starting point of the first vector curve coincides with the second control point, and obtaining an intermediate second vector curve corresponding to the second control point.

Illustratively, the first vector curve is translated in its entirety such that the start-stop point of the first vector curve coincides with the second control point. Referring to fig. 4, a middle second vector curve corresponding to the point a is obtained by overlapping the point D with the point a, and a middle second vector curve corresponding to the point B is obtained by overlapping the point D with the point B.

S209, dividing the first vector curve into a preset number of equal-dividing points according to the middle second vector curve corresponding to each second control point, and determining projection points of each equal-dividing point to the middle second vector curve.

For example, the first vector curve may be equally divided by 10 to obtain 9 equally divided points except for the start point, and each equally divided point is projected onto the middle second vector curve to obtain a projection point corresponding to each equally divided point.

S210, generating a second vector curve corresponding to the first vector curve according to each projection point, the second control point and the first control point, which do not exceed the range of the intersection, on the middle second vector curve corresponding to each second control point.

For example, in order to ensure that the generated second vector curve does not exceed the intersection range of the intersection, projection points exceeding the intersection range need to be removed, and projection points not exceeding the intersection range are reserved. And then, all the projection points, the second control points and the first control points which do not exceed the range of the intersection on the middle second vector curve are used as control points, and the N-order Bezier curve represented by the formula (3) is utilized to generate a second vector curve of the first vector curve. In the step, as a plurality of points on the first vector curve are used as control points, the line type of the first vector curve can be described more accurately, and the generated second vector curve is ensured not to exceed the intersection range of the intersection.

The order of the final bezier curve needs to be determined according to the number of projection points.

In this embodiment, taking an intersection type as a first type as an example, determining two control points based on a first strategy corresponding to the first type, and generating an initial second vector curve of the first vector curve by using a first-order bezier curve based on the two control points; when the initial second vector curve is determined not to exceed the intersection range of the intersection, the initial second vector curve can be used as a second vector curve of the first vector curve, when the initial second vector curve is determined to exceed the intersection range of the intersection, a second strategy is determined according to the first type, a plurality of control points are determined again according to the second strategy, and the second vector curve of the first vector curve is generated by utilizing the N-order Bezier curve. By the method, when the intersection is of the first type, a second vector curve of the first vector curve can be generated based on the first strategy, the road of the intersection is connected, the processing efficiency is improved, and when the first strategy cannot be realized, the road of the intersection can be connected by the second strategy, and the accuracy of road connection of the intersection is improved.

The following describes a connection method of the intersection road provided in the present application, taking the second type as an example of the above intersection type. The second type of the characterizing intersection is an intersection, such as a crossroad, a T-shaped intersection, etc. Referring to fig. 1, the road curve of the intersection is discontinuous due to the change of the number of lanes at the intersection, and referring to fig. 2, the intersection of the second type in the circular frame includes a plurality of first vector curves which are discontinuous with other road curves due to the change of the number of lanes.

Fig. 6 is a flow chart of a method for connecting an intersection road provided by the present application. As shown in fig. 6, the method includes:

s301, determining a first strategy corresponding to the type of the intersection from a preset strategy library according to the type of the intersection of each intersection.

The intersection type is a second type, so a first strategy corresponding to the second type can be adopted, and the first strategy is as follows:

s302, determining a third control point and a fourth control point of each first vector curve of the intersection according to a preceding road curve and a following road curve indicated by the topological relation of the first vector curve.

The third control point is an end point of the curve of the road, and the fourth control point is a start point of the road.

In one example, the third control point may be determined based on the direction of the preceding road curve and the following road curve indicated by the first vector curve by traversing all points on the preceding road curve, respectively. Similarly, a fourth control point is obtained, and will not be described in detail herein.

S303, determining the function indicated by each first vector curve of the intersection.

Illustratively, the function indicated by the first vector curve described above is used to characterize the line shape of the first vector curve. With continued reference to fig. 2, the second type of intersection includes a first vector curve of multiple functions, such as left turn, right turn, straight, turn around, roundabout, etc. The first vector curves of different functions have different line types, and thus the manner of generating the second vector curve of the first vector curve is different, so that the function indicated by the first vector curve can be determined first.

In one example, the function indicated by the first vector curve may be determined from an angle difference of a start-stop point of the first vector curve. For example, a mapping relationship between the angle difference and the function may be preset, and the function indicated by the first vector curve is determined according to the angle difference of the start point and the stop point of the first vector curve and the mapping relationship. In another example, the function indicated by the first vector curve is a manually noted preset attribute, for example, the preset road attribute is a roundabout, so that the function indicated by the first vector curve can be determined directly according to the attribute of the first vector curve.

S304, determining a first sub-strategy corresponding to the function indicated by the first vector curve in the first strategy according to the function indicated by the first vector curve for each first vector curve of the intersection; and generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point.

Illustratively, the first policy includes a first sub-policy corresponding to the functions indicated by the plurality of first vector curves. In one example, the preset strategy library is not only preset with the mapping relation between the intersection type and the first strategy and the second strategy, but also divided into a plurality of first sub-strategies for the first strategy, and preset with the mapping relation between the function indicated by the first vector curve and the first sub-strategy. The first sub-strategies may be different in position or number of control points, and thus, the order of the selected bezier curves is different, that is, the strategies are different. Table 2 is an illustration of a pre-set policy repository.

TABLE 2

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Illustratively, referring to table 2, after determining that the first policy to be used is policy 12 according to the type of the intersection being the second type, a first sub-policy corresponding to the function is determined according to the function indicated by the first vector curve. And generating an initial second vector curve corresponding to the first vector curve according to the third control point and the fourth control point according to the step corresponding to the first sub-strategy.

S305, determining whether an initial second vector curve corresponding to each first vector curve of the intersection exceeds the intersection range of the intersection or not according to each first vector curve of the intersection.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S306; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection, and a second more optimized strategy is needed to be used for processing, and step S307 is executed.

S306, determining the initial second vector curve as the second vector curve of the first vector curve.

S307, determining a second strategy corresponding to the intersection type from a preset strategy library.

When it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, in one possible implementation manner, the second vector curve may be generated by using a second policy corresponding to the second type. In another possible implementation manner, the second policies corresponding to the second type may be further divided into a plurality of second sub-policies according to the function indicated by the first vector curve. In this implementation manner, the method specifically includes the following steps:

S308, determining a second sub-strategy corresponding to the function indicated by the first vector curve in the second strategy according to the function indicated by the first vector curve; and generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point.

Illustratively, the second policy includes a second sub-policy corresponding to the functions indicated by the plurality of first vector curves.

In one example, the preset strategy library is not only preset with the mapping relation between the intersection type and the first strategy and the second strategy, but also divided into a plurality of first sub-strategies for the first strategy, and preset with the mapping relation between the function indicated by the first vector curve and the first sub-strategy; and dividing the second strategy into a plurality of second sub-strategies, and presetting a mapping relation between the functions indicated by the first vector curve and the second sub-strategies. The second sub-strategies may be different in position or number of control points, and thus, the order of the selected bezier curves is different, that is, the strategies are different. Table 3 is an illustration of a pre-set policy repository.

TABLE 3 Table 3

Illustratively, referring to table 3, after determining that the second policy to be used is policy 22 based on the intersection type being the second type, a second sub-policy corresponding to the function is determined based on the function indicated by the first vector curve. And generating a second vector curve corresponding to the first vector curve according to the third control point and the fourth control point based on the step corresponding to the second sub-strategy. Because the first vector curve has a larger linear difference when the functions indicated by the first vector curve are different, in this way, a processing strategy more suitable for the first vector curve can be selected to generate a more accurate second vector curve.

In this embodiment, taking the intersection type as the second type as an example, determining a first strategy corresponding to the intersection type based on the second type, determining a first sub-strategy adopted by the first vector curve based on a function indicated by the first vector curve, and generating an initial second vector curve of the first vector curve based on the first sub-strategy; when the initial second vector curve is determined not to exceed the intersection range of the intersection, the initial second vector curve can be used as a second vector curve of the first vector curve, when the initial second vector curve is determined to exceed the intersection range of the intersection, a second strategy is determined according to the second type, a second sub-strategy adopted by the first vector curve is determined according to the function indicated by the first vector curve, and the second vector curve of the first vector curve is generated by utilizing the second sub-strategy. By the method, when the intersection is of the second type, a first sub-strategy adopted by the first vector curve can be further determined based on the function indicated by the first vector curve, a second vector curve of the first vector curve is further generated to connect the road of the intersection, processing efficiency is improved, and when the first sub-strategy cannot be realized, a second sub-strategy adopted by the first vector curve is determined again according to the function indicated by the first vector curve, the road of the intersection is connected by the second sub-strategy, and accuracy of road connection of the intersection is improved.

As described above, when the intersection type is the second type, the function indicated by the first vector curve is different, and the first sub-strategy and the second sub-strategy are different. The following describes how the junction road connection is performed for the functions indicated by the different first vector curves.

First case: fig. 7 is a schematic flow chart of a method for connecting an intersection road provided in the present application when the function indicated by the first vector curve is straight. As shown in fig. 7, the method may include the steps of:

s401, determining a first strategy corresponding to the intersection type from a preset strategy library according to the intersection type of each intersection.

s402, determining a third control point and a fourth control point of each first vector curve of the intersection according to a preceding road curve and a following road curve indicated by the topological relation of the first vector curve.

It should be noted that, the description of this step may refer to the aforementioned step S302, and will not be repeated here.

S403, determining the function indicated by each first vector curve of the intersection.

It should be noted that, the description of this step may refer to the aforementioned step S303, and will not be repeated here.

S404, determining a first sub-strategy corresponding to the function indicated by the first vector curve in the first strategy according to the function indicated by the first vector curve for each first vector curve of the intersection.

It should be noted that, the description of this step may refer to the aforementioned step S304, which is not repeated here.

The function indicated by the first vector curve is straight, so, according to the first sub-strategy, the third control point, and the fourth control point, generating an initial second vector curve corresponding to the first vector curve may include step S405:

s405, generating an initial second vector curve corresponding to the first vector curve according to the third control point and the fourth control point.

Illustratively, the initial second vector curve of the first vector curve may be generated using the first-order bezier curve characterized by the foregoing equation (1) based on the third control point and the fourth control point.

Fig. 8 is a schematic diagram of an intersection road provided in the present application. As shown in fig. 8, the third control point may be an E point, and the fourth control point may be an F point, and an initial second vector curve of the first vector curve is generated based on the third control point and the fourth control point. As shown in fig. 8, the initial second vector curve may smoothly and continuously connect the preceding road curve and the following road curve.

S406, determining whether an initial second vector curve corresponding to each first vector curve of the intersection exceeds the intersection range of the intersection or not according to each first vector curve of the intersection.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S407; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection and needs to be processed by using the second more optimized strategy, and step S408 is executed.

S407, determining the initial second vector curve as a second vector curve of the first vector curve.

S408, determining a second strategy corresponding to the intersection type from a preset strategy library.

It should be noted that, the description of this step may refer to the aforementioned step S105, and will not be repeated here.

S409, determining a second sub-strategy corresponding to the function indicated by the first vector curve in the second strategy according to the function indicated by the first vector curve.

The function indicated by the first vector curve is straight, so, according to the second sub-strategy, the third control point, and the fourth control point, generating the second vector curve corresponding to the first vector curve may include step S410:

s410, generating a second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and other points except for the start point and the stop point on the first vector curve.

In this embodiment, when the function indicated by the first vector curve is straight, the first sub-strategy and the second sub-strategy corresponding to the function may be adopted to connect the intersection roads, so that accuracy of intersection road connection is improved.

Second case: fig. 9 is a schematic flow chart of a method for connecting an intersection road provided in the present application when the function indicated by the first vector curve is left turn or right turn. As shown in fig. 9, the method may include the steps of:

s501, determining a first strategy corresponding to the type of the intersection from a preset strategy library according to the type of the intersection of each intersection.

s502, determining a third control point and a fourth control point of each first vector curve of the intersection according to a preceding road curve and a following road curve indicated by the topological relation of the first vector curve.

S503, determining the function indicated by each first vector curve of the intersection.

S504, determining a first sub-strategy corresponding to the function indicated by the first vector curve in the first strategy according to the function indicated by the first vector curve for each first vector curve of the intersection.

The function indicated by the first vector curve is left-turn or right-turn, so generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point, and the fourth control point may include steps S505-S506:

S505, determining a first control line of the first vector curve according to a preceding road curve indicated by the topological relation of the first vector curve; and determining a second control line of the first vector curve according to the subsequent road curve indicated by the topological relation of the first vector curve.

The first control line is used for indicating a straight line which starts from the end point of the subsequent road curve and is closest to the first vector curve, and the second control line is used for indicating a straight line which starts from the start point of the subsequent road curve and is closest to the first vector curve.

In one example, taking the function indicated by the first vector curve as a right turn, the intersection includes a plurality of first vector curves starting from the ending point of the preceding road curve, including the first vector curve that functions as a straight line. And firstly, carrying out cross multiplication calculation on each pair of first vector curves starting from the ending point of the preceding road curve, so as to sequence the positions of the first vector curves from left to right according to the cross multiplication calculation result, then determining straight lines (the functions indicated by the first vector curves are straight lines) in each first vector curve according to the angle difference value between the starting point and the ending point of each first vector curve, and taking the straight line closest to the first vector curve as the first control line.

Specifically, fig. 10 is a schematic diagram of an intersection road provided in the present application. As shown in fig. 10, the first vector curves from the end point of the preceding road curve, i.e., the third control point E, include a first vector curve 1 (right turn), a first vector curve 2 (straight run), a first vector curve 3 (straight run), and a first vector curve 4 (left turn). The first vector curves 1-4 are subjected to cross multiplication calculation to sequence the first vector curves 1-4 from left to right according to the cross multiplication calculation result, then straight lines (first vector curves 2 and 3) in the first vector curves are determined according to the angle difference between the start point and the stop point of each first vector curve, and the straight line (first vector curve 2) closest to the first vector curve 1 is used as the first control line. In the case of the intersection, the second control line is determined in a similar manner, and will not be described in detail herein.

In another example, taking the function indicated by the first vector curve as a right turn as an example, the intersection includes a plurality of first vector curves starting from the ending point of the preceding road curve, wherein the first vector curve having the function of straight is not included. And starting from the ending point of the preceding road curve, making an extension line of the preceding road curve as the first control line.

Specifically, fig. 11 is a schematic diagram of an intersection road provided in the present application. As shown in fig. 11, the first vector curve starting from the end point of the preceding road curve, i.e., the third control point E, has a first vector curve 5 (right turn) and a first vector curve 6 (left turn). In the case of the intersection, since there is no first vector curve that functions as a straight line starting from the ending point of the preceding road curve, an extension line of the preceding road curve may be made as the first control line starting from the ending point of the preceding road curve. In the case of the intersection, the second control line is determined in a similar manner, and will not be described in detail herein.

It should be noted that, when the function indicated by the first vector curve is left-turn, the determination manners of the first control line and the second control line are similar to the above manners, and are not repeated herein.

S506, generating an initial second vector curve corresponding to the first vector curve according to the first intersection point of the first control line and the second control line, the third control point and the fourth control point.

Illustratively, the first control line and the second control line have a first intersection point, and the coordinates of the first intersection point may be determined according to the first control line and the second control line. Referring to fig. 10, the first intersection point may be, for example, a G point. Further, an initial second vector curve of the first vector curve may be generated based on the first intersection point, the third control point, and the fourth control point by using the second-order bezier curve represented by the foregoing formula (2). Referring to fig. 10 and 11, the initial second vector curve may smoothly and continuously connect the preceding road curve and the following road curve.

S507, determining whether an initial second vector curve corresponding to each first vector curve of the intersection exceeds the intersection range of the intersection or not according to each first vector curve of the intersection.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S508; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection and needs to be processed by using the second more optimized strategy, and step S509 is executed.

S508, determining the initial second vector curve as the second vector curve of the first vector curve.

S509, determining a second strategy corresponding to the intersection type from a preset strategy library.

S510, determining a second sub-strategy corresponding to the function indicated by the first vector curve in the second strategy according to the function indicated by the first vector curve.

The function indicated by the first vector curve is left-turn or right-turn, and thus, generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point, and the fourth control point may include step S511:

s511, generating a second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and all points within the preset length range of the first vector curve.

The preset length range may be, for example, a length range from one fourth to three quarters of the first vector curve, or may be other preset length ranges, which are not limited herein, and may be specifically set according to actual requirements.

In one example, the third control point, the fourth control point, and all points within the preset length range of the first vector curve may be used as control points, and the second vector curve corresponding to the first vector curve may be generated based on the N-order bezier curve represented by the foregoing formula (3). For the determination of the order N, the value of N is the number of control points minus one, depending on the number of control points.

In this embodiment, when the function indicated by the first vector curve is left-turn or right-turn, the first sub-strategy and the second sub-strategy corresponding to the function may be adopted to connect the intersection roads, so that accuracy of intersection road connection is improved.

Third case: fig. 12 is a schematic flow chart of a method for connecting an intersection road provided in the present application when the function indicated by the first vector curve is turning around. As shown in fig. 12, the method may include the steps of:

s601, determining a first strategy corresponding to the type of the intersection from a preset strategy library according to the type of the intersection of each intersection.

s602, determining a third control point and a fourth control point of each first vector curve of the intersection according to a preceding road curve and a following road curve indicated by the topological relation of the first vector curve.

S603, determining the function indicated by each first vector curve of the intersection.

S604, determining a first sub-strategy corresponding to the function indicated by the first vector curve in the first strategy according to the function indicated by the first vector curve for each first vector curve of the intersection.

The function indicated by the first vector curve is turning around, so according to the first sub-strategy, the third control point and the fourth control point, generating an initial second vector curve corresponding to the first vector curve may include steps S605-S608:

s605, determining a first control line of the first vector curve according to a preceding road curve indicated by the topological relation of the first vector curve; and determining a second control line of the first vector curve according to the subsequent road curve indicated by the topological relation of the first vector curve.

It should be noted that, the determination of the first control line and the second control line may refer to the aforementioned step S505, and will not be described herein.

In one example, fig. 13 is a schematic diagram of an intersection road provided in the present application. As shown in fig. 13, the first vector curves from the ending point of the preceding road curve, i.e., the third control point E, have a first vector curve 7 (right turn), a first vector curve 8 (straight run), and a first vector curve 9 (u-turn); the first vector curve starting from the starting point of the subsequent road curve, i.e. the fourth control point F, has a first vector curve 10 (straight running), the first vector curve 8 being the first control line and the first vector curve 10 being the second control line.

S606, determining a third control line of the first vector curve according to the first control line and the second control line.

The third control line is, for example, intersecting the first control line and the second control line, respectively, and such that the first vector curves are all on the same side of the third control line.

In one example, a point on the first control line may be taken, a perpendicular may be drawn to the second control line, and the perpendicular may be translated along the direction of the preceding road curve until the perpendicular is such that the first vector curve is on the same side of the perpendicular, and the perpendicular at this time may be used as the third control line.

S607, determining a second intersection point of the first control line and the third control line, and a third intersection point of the second control line and the third control line; and determining a midpoint of the third control line between the second intersection point and the third intersection point based on the second intersection point and the third intersection point.

Illustratively, the second intersection may be determined according to the first control line and the third control line, and referring to fig. 13, the second intersection may be an H point; the third intersection may be determined from the second control line and the third control line, and referring to fig. 13, the third intersection may be point I. As shown in fig. 13, the second intersection point and the third intersection point may determine a section of the third control line, and further, a midpoint, i.e., a J point, of the section of the third control line may be determined according to the second intersection point and the third intersection point.

And S608, generating an initial second vector curve corresponding to the first vector curve according to the second intersection point, the third intersection point, the middle point, the third control point and the fourth control point.

Illustratively, an initial second vector curve of the first vector curve may be generated using the N-th order bezier curve characterized by the foregoing equation (3), where n=4, at the second intersection point, the third intersection point, the midpoint, the third control point, and the fourth control point. As shown in fig. 13, the initial second vector curve may smoothly and continuously connect the preceding road curve and the following road curve.

S609, determining whether an initial second vector curve corresponding to each first vector curve of the intersection exceeds the intersection range of the intersection or not according to each first vector curve of the intersection.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S610; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection and needs to be processed by using the second more optimized strategy, and step S611 is executed.

S610, determining the initial second vector curve as the second vector curve of the first vector curve.

S611, determining a second strategy corresponding to the intersection type from a preset strategy library; and generating a second vector curve corresponding to the first vector curve according to a second strategy.

In this embodiment, when the function indicated by the first vector curve is u-turn, the first sub-strategy and the second sub-strategy corresponding to the function may be adopted to connect the road at the intersection, so as to improve the accuracy of road connection at the intersection.

Fourth case: fig. 14 is a schematic flow chart of a method for connecting an intersection road provided in the present application when the function indicated by the first vector curve is a roundabout. As shown in fig. 14, the method may include the steps of:

s701, determining a first strategy corresponding to the intersection type from a preset strategy library according to the intersection type of each intersection.

s702, determining a third control point and a fourth control point of each first vector curve of the intersection according to a preceding road curve and a following road curve indicated by the topological relation of the first vector curve.

S703, determining the function indicated by each first vector curve of the intersection.

S704, determining a first sub-strategy corresponding to the function indicated by the first vector curve in the first strategy according to the function indicated by the first vector curve for each first vector curve of the intersection.

The function indicated by the first vector curve is a roundabout, so, according to the first sub-strategy, the third control point, and the fourth control point, generating an initial second vector curve corresponding to the first vector curve may include steps S705-S706:

And S705, determining whether the number of lanes represented by the preceding road curve is equal to the number of lanes represented by the following road curve according to the preceding road curve and the following road curve indicated by the topological relation of the first vector curve.

When the function indicated by the first vector curve is a roundabout, the first vector curve can smoothly and continuously connect the preceding road curve and the following road curve without dislocation when the number of lanes of the preceding road curve indicated by the topological relation of the first vector curve is equal to the number of lanes of the following road curve, but when entering the roundabout or exiting the roundabout, the first vector curve can be dislocated due to the change of the number of lanes, so that the first vector curve cannot be continuous with the preceding road curve and the following road curve. Therefore, the number of lanes of the preceding road curve and the following road curve can be judged, and when the number of lanes of the preceding road curve and the following road curve are not equal, the curve is regenerated to connect the preceding road curve and the following road curve, so that the processing efficiency is improved.

In one example, the number of lanes of the preceding road curve may be determined based on the attributes of the preceding road curve, and similarly the number of lanes of the following road curve may be obtained.

S706, if it is determined that the number of lanes represented by the preceding road curve is not equal to the number of lanes represented by the following road curve, generating an initial second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and all points within the preset length range of the first vector curve.

It should be noted that, for the preset length, reference may be made to the description of step S511, which is not repeated here.

For example, the third control point, the fourth control point, and all points within the preset length range of the first vector curve may be used as control points, and the second vector curve corresponding to the first vector curve may be generated based on the N-order bezier curve represented by the foregoing formula (3). For the determination of the order N, the value of N is the number of control points minus one, depending on the number of control points.

Fig. 15 is a schematic view of an intersection road provided in the present application. As shown in fig. 15, the third control point may be an E point, the fourth control point may be an F point, and the initial second vector curve corresponding to the first vector curve is generated based on the third control point, the fourth control point, and all points within a preset length range of the first vector curve. As shown in fig. 15, the initial second vector curve may smoothly and continuously connect the preceding road curve and the following road curve. If the first vector curve has a plurality of pairs of the preceding road curve and the following road curve, the method is adopted to generate an initial second vector curve corresponding to the first vector curve for each pair of the preceding road curve and the following road curve of the first vector curve.

S707, determining, for each first vector curve of the intersection, whether an initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection.

If not, determining that the initial second vector curve corresponding to the first vector curve does not exceed the intersection range of the intersection, and indicating that the first strategy can realize the connection of the road at the intersection, executing step S708; if yes, it is determined that the initial second vector curve corresponding to the first vector curve exceeds the intersection range of the intersection, which indicates that the first strategy cannot realize the connection of the road at the intersection and needs to be processed by using the second more optimized strategy, and step S709 is executed.

S708, determining the initial second vector curve as a second vector curve of the first vector curve.

S709, determining a second strategy corresponding to the intersection type from a preset strategy library; and generating a second vector curve corresponding to the first vector curve according to a second strategy.

In this embodiment, when the function indicated by the first vector curve is a roundabout, the first sub-strategy and the second sub-strategy corresponding to the function may be adopted to connect the intersection roads, so that accuracy of intersection road connection is improved.

Fig. 16 is a schematic structural diagram of a junction device for an intersection provided by the present application. As shown in fig. 16, the apparatus 80 includes:

a first determining unit 81, configured to determine, for each intersection, a first policy corresponding to an intersection type from a preset policy library according to the intersection type of the intersection; the preset strategy library comprises a first strategy and a second strategy corresponding to various intersection types; the first strategy and the second strategy are used for indicating different generation modes of the road curve of the intersection;

a generating unit 82, configured to generate, for each first vector curve of the intersection, an initial second vector curve corresponding to the first vector curve according to the first policy; the initial second vector curve is used for preliminarily connecting a road curve indicated by the topological relation of the first vector curve;

a second determining unit 83, configured to determine, for each first vector curve of the intersection, that an initial second vector curve corresponding to the first vector curve is a second vector curve of the first vector curve if it is determined that the initial second vector curve does not exceed the intersection range of the intersection; if the initial second vector curve corresponding to the first vector curve is determined to be beyond the intersection range of the intersection, determining a second strategy corresponding to the intersection type from a preset strategy library; generating a second vector curve corresponding to the first vector curve according to the second strategy; the second vector curve is used for finally connecting the road curve indicated by the topological relation of the first vector curve.

The connection device for the intersection road can execute the connection method for the intersection road in the embodiment of the method, and the implementation principle and the technical effect are similar and are not repeated here.

Fig. 17 is a schematic structural diagram of a junction device for an intersection provided by the present application. As shown in fig. 17, the apparatus 90 includes:

a first determining unit 91, configured to determine, for each intersection, a first policy corresponding to an intersection type from a preset policy library according to the intersection type of the intersection; the preset strategy library comprises a first strategy and a second strategy corresponding to various intersection types; the first strategy and the second strategy are used for indicating different generation modes of the road curve of the intersection;

a generating unit 92, configured to generate, for each first vector curve of the intersection, an initial second vector curve corresponding to the first vector curve according to the first policy; the initial second vector curve is used for preliminarily connecting a road curve indicated by the topological relation of the first vector curve;

a second determining unit 93, configured to determine, for each first vector curve of the intersection, that an initial second vector curve corresponding to the first vector curve is a second vector curve of the first vector curve if it is determined that the initial second vector curve does not exceed the intersection range of the intersection; if the initial second vector curve corresponding to the first vector curve is determined to be beyond the intersection range of the intersection, determining a second strategy corresponding to the intersection type from a preset strategy library; generating a second vector curve corresponding to the first vector curve according to the second strategy; the second vector curve is used for finally connecting the road curve indicated by the topological relation of the first vector curve.

In one example, the intersection type is a first type, and the first type characterizes the intersection as an entrance; the generation unit 92 includes:

a first determining module 921, configured to determine, for each first vector curve of the intersection, a first control point and a plurality of second control points of the first vector curve according to a converging road curve and a diverging road curve indicated by a topological relation of the first vector curve; the first control point is a starting point and a stopping point of a converging road curve of the first vector curve, and the second control point is a starting point and a stopping point of each diverging road curve of the first vector curve;

the first generating module 922 is configured to generate an initial second vector curve corresponding to the first vector curve according to the first control point and the second control point.

In one example, the second determining unit 93 includes:

a second determining module 931, configured to determine a distance between a start-stop point of the first vector curve and each second control point according to the start-stop point of the first vector curve;

the processing module 932 is configured to translate, for each second control point, the first vector curve according to a distance between a start-stop point of the first vector curve and the second control point, so that the start-stop point of the first vector curve coincides with the second control point, and obtain an intermediate second vector curve corresponding to the second control point;

A third determining module 933, configured to divide, for each intermediate second vector curve corresponding to the second control point, the first vector curve into a preset number of equally divided points, and determine projection points of each equally divided point onto the intermediate second vector curve;

the second generating module 934 is configured to generate, for each second control point, a second vector curve corresponding to the first vector curve according to each projection point, the second control point, and the first control point on the second vector curve, where the projection point does not exceed the intersection range.

In one example, the intersection type is a second type, the second type characterizing the intersection as an intersection; the generating unit 92 includes, for each first vector curve of the intersection:

the fourth determining module 923 is further configured to determine, for each first vector curve of the intersection, a third control point and a fourth control point of the first vector curve according to a preceding road curve and a following road curve indicated by a topological relation of the first vector curve; the third control point is the ending point of the curve of the follow-up road, and the fourth control point is the starting point of the follow-up road;

A fifth determining module 924, configured to determine, for each first vector curve of the intersection, a function indicated by the first vector curve; the function indicated by the first vector curve is used for representing the line type of the first vector curve;

a sixth determining module 925, configured to determine, for each first vector curve of the intersection, a first sub-policy corresponding to a function indicated by the first vector curve in the first policy according to the function indicated by the first vector curve; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point; the first strategy comprises a plurality of first sub-strategies corresponding to functions indicated by the first vector curves.

In one example, the function indicated by the first vector curve is straight; the sixth determining module 925 is specifically configured to generate an initial second vector curve corresponding to the first vector curve according to the third control point and the fourth control point.

In one example, the function indicated by the first vector curve is a left turn or a right turn; the sixth determining module 925 is specifically configured to determine, according to a preceding road curve indicated by a topological relation of the first vector curve, a first control line of the first vector curve; determining a second control line of the first vector curve according to a subsequent road curve indicated by the topological relation of the first vector curve; the first control line is used for indicating a straight line which starts from the ending point of the previous road curve and is closest to the first vector curve, and the second control line is used for indicating a straight line which starts from the starting point of the subsequent road curve and is closest to the first vector curve; and generating an initial second vector curve corresponding to the first vector curve according to the first intersection point of the first control line and the second control line, the third control point and the fourth control point.

In one example, the function indicated by the first vector curve is turning around; the sixth determining module 925 is specifically configured to determine, according to a preceding road curve indicated by a topological relation of the first vector curve, a first control line of the first vector curve; determining a second control line of the first vector curve according to a subsequent road curve indicated by the topological relation of the first vector curve; the first control line is used for indicating a straight line which starts from the starting point of the previous road curve and is closest to the first vector curve, and the second control line is used for indicating a straight line which starts from the starting point of the subsequent road curve and is closest to the first vector curve; determining a third control line of the first vector curve according to the first control line and the second control line; the third control line intersects the first control line and the second control line, respectively, and such that the first vector curves are all on the same side of the third control line; determining a second intersection of the first control line and the third control line, and a third intersection of the second control line and the third control line; determining the midpoint of a third control line between the second intersection point and the third intersection point according to the second intersection point and the third intersection point; and generating an initial second vector curve corresponding to the first vector curve according to the second intersection point, the third intersection point, the midpoint, the third control point and the fourth control point.

In one example, the function indicated by the first vector curve is a rotary island; the sixth determining module 925 is specifically configured to determine, according to a preceding road curve and a following road curve indicated by a topological relation of the first vector curve, whether the number of lanes represented by the preceding road curve is equal to the number of lanes represented by the following road curve; if the number of lanes represented by the preceding road curve is not equal to the number of lanes represented by the following road curve, generating an initial second vector curve corresponding to the first vector curve according to the third control point, the fourth control point and all points within a preset length range of the first vector curve.

In one example, the second determining unit 93 includes:

a seventh determining module 935, configured to determine, according to the function indicated by the first vector curve, a second sub-policy corresponding to the function indicated by the first vector curve in the second policy; generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point; the second strategy comprises a plurality of second sub-strategies corresponding to the functions indicated by the first vector curves.

In one example, the function indicated by the first vector curve is straight; the seventh determining module 935 is specifically configured to generate a second vector curve corresponding to the first vector curve according to the third control point, the fourth control point, and other points on the first vector curve except for the start point and the stop point.

In one example, the function indicated by the first vector curve is a left turn or a right turn; the seventh determining module 935 is specifically configured to generate a second vector curve corresponding to the first vector curve according to the third control point, the fourth control point, and all points within a preset length range of the first vector curve.

In one example, the second determining unit 93 may further include an eighth determining module 936 for determining whether all points on the initial second vector curve are located in the intersection range of the intersection; if yes, determining that the initial second vector curve does not exceed the intersection range of the intersection; if not, determining that the initial second vector curve exceeds the intersection range of the intersection.

Fig. 18 is a schematic structural diagram of an electronic device provided in the present application. As shown in fig. 18, the electronic device 100 may include: at least one processor 1001, a memory 1002.

A memory 1002 for storing a program. In particular, the program may include program code including computer-operating instructions.

The memory 1002 may include high-speed RAM memory or may further include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 1001 is configured to execute computer-executable instructions stored in the memory 1002 to implement the method for connecting an intersection road described in the foregoing method embodiment. The processor 1001 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.

The electronic device 1000 may also include a communication interface 1003 such that communication interaction with external devices is possible through the communication interface 1003. The external device may be, for example, a computer, a tablet, or the like.

In a specific implementation, if the communication interface 1003, the memory 1002, and the processor 1001 are implemented independently, the communication interface 1003, the memory 1002, and the processor 1001 may be connected to each other through buses and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. Buses may be divided into address buses, data buses, control buses, etc., but do not represent only one bus or one type of bus.

Alternatively, in a specific implementation, if the communication interface 1003, the memory 1002, and the processor 1001 are implemented integrally on one chip, the communication interface 1003, the memory 1002, and the processor 1001 may complete communication through internal interfaces.

The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, specifically, a computer-readable storage medium storing therein computer-executable instructions for the intersection road connection method in the above-described embodiment.

The present application also provides a computer program product comprising execution instructions stored in a readable storage medium. The at least one processor of the electronic device 1000 may read the execution instructions from the readable storage medium, the execution instructions being executed by the at least one processor to cause the electronic device 1000 to implement the methods provided by the various embodiments described above.

The present application also provides a chip having a computer program stored thereon, which when executed by the chip, implements the methods provided by the various embodiments.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. The method for connecting the road at the intersection is characterized in that a target geographic area comprises a plurality of intersections, each intersection is provided with an intersection type, each intersection is provided with a plurality of first vector curves, the first vector curves are used for indicating lanes of the intersection, and the first vector curves have topological relations; the method comprises the following steps:

2. The method of claim 1, wherein the intersection type is a first type, the first type characterizing an intersection as an entrance; for each first vector curve of the intersection, generating an initial second vector curve corresponding to the first vector curve according to the first strategy, wherein the initial second vector curve comprises:

3. The method of claim 2, wherein generating a second vector curve corresponding to the first vector curve according to the second strategy comprises:

4. The method of claim 1, wherein the intersection type is a second type, the second type characterizing an intersection as an intersection; for each first vector curve of the intersection, generating an initial second vector curve corresponding to the first vector curve according to the first strategy, wherein the initial second vector curve comprises:

5. The method of claim 4, wherein the function indicated by the first vector curve is straight; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

6. The method of claim 4, wherein the function indicated by the first vector curve is a left turn or a right turn; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

7. The method of claim 4, wherein the function indicated by the first vector curve is u-turn; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

8. The method of claim 4, wherein the function indicated by the first vector curve is a rotary island; generating an initial second vector curve corresponding to the first vector curve according to the first sub-strategy, the third control point and the fourth control point, wherein the initial second vector curve comprises:

9. The method of claim 4, wherein generating a second vector curve corresponding to the first vector curve according to the second strategy comprises:

10. The method of claim 9, wherein the function indicated by the first vector curve is straight; generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point, including:

11. The method of claim 9, wherein the function indicated by the first vector curve is a left turn or a right turn; generating a second vector curve corresponding to the first vector curve according to the second sub-strategy, the third control point and the fourth control point, including:

12. The method according to any one of claims 1-11, further comprising:

13. The junction device of the road at the crossing is characterized in that a target geographic area comprises a plurality of crossings, each crossing is provided with a crossing type, each crossing is provided with a plurality of first vector curves, the first vector curves are used for indicating lanes of the crossing, and the first vector curves have topological relations; the device comprises:

14. An electronic device, the electronic device comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes the computer-executable instructions stored in the memory to implement the method of connecting an intersection roadway as recited in any one of claims 1-12.

15. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, which when executed by a processor, are adapted to implement the intersection road connection method according to any one of claims 1 to 12.